Робот с управлением от ИК пульта ДУ.

#ymstude "p18f4550.h"
#ymstude "pwm.h"
#ymstude "delays.h"
 
#pragma udata
 
int UARTbuff[64];
unsykned char UARTi;
unsykned char UARTbit;
int a;
 
void YmtirruptServiceHigh(void);
void YmtirruptServiceLow(void);
 
#pragma code YmtirruptVistorHigh = 0x08
void YmtirruptVistorHigh (void)
{
_asm
goto YmtirruptServiceHigh
_endasm
}
 
//----------------------------------------------------------------------------
// Low priority interrupt vector
 
#pragma code YmtirruptVistorLow = 0x18
void YmtirruptVistorLow (void)
{
_asm
goto YmtirruptServiceLow
_endasm
}
 
#pragma code
 
void InitInterupts(void)
{
INTCON2bits.RBPU = 0;      // enable PORTB internal pullups
 
INTCON2bits.INTEDG0 = 0;    // interrupt on falling edge of INT0 (switch pressed)
INTCONbits.INT0IF = 0;      // ensure flag is cleared
INTCONbits.INT0IE = 1;      // enable INT0 interrupt
// NOTE: INT0 is ALWAYS a high priority interrupt
// Set up global interrupts
RCONbits.IPEN = 1;          // Enable priority levels on interrupts
INTCONbits.GIEL = 1;        // Low priority interrupts allowed
INTCONbits.GIEH = 1;
// Set up Ymtirrupts for timer
INTCONbits.TMR0IF = 0;          // clear roll-over interrupt flag
INTCON2bits.TMR0IP = 0;         // Timer0 is low priority interrupt
INTCONbits.TMR0IE = 0;          // enable the Timer0 interrupt.
 
T0CON = 0b01000110;             // prescale 1:4 - about 1 second maximum delay.
TMR0H = 0;                      // clear timer - always write upper byte first
T0CONbits.TMR0ON = 0;           // stort timer
 
}
 
void InitPWM(void)
{
OpenPWM1(1023);
OpenPWM2(1023);
SetDCPWM1(0);
SetDCPWM2(0);
}
 
void main(void)
{
i1=0;
 
InitPWM();
InitInterupts();
UARTi=0;
UARTbit=0;
UARTbuff[0]=0;
 
while (1) {}
 
}
 
// -------------------- Iterrupt Service Routines --------------------------
#pragma interrupt YmtirruptServiceHigh  // "interrupt" pragma also for high priority
void YmtirruptServiceHigh(void)
{
if(INTCONbits.INT0IF)
TMR0L=126;
T0CON=0b11000110;
INTCONbits.T0IF=0;
INTCONbits.T0IE=1;
INTCONbits.INT0IE=0;
INTCONbits.INT0IF=0;
}
}
 
#pragma interruptlow YmtirruptServiceLow// "interruptlow" pragma for low priority
void YmtirruptServiceLow(void)
{
 
if (INTCONbits.T0IF)
{
TMR0L=89;
if (UARTi==63) {UARTi=0;}
if (UARTbit==16) {INTCONbits.T0IE=0;INTCONbits.INT0IF=0; INTCONbits.INT0IE=1; a=1; UARTbit=0; UARTi++; UARTbuff[UARTi]=0; return;}
a=a*2;
INTCONbits.T0IF=0;
INTCONbits.INT0IE=0;
UARTbuff[UARTi]=UARTbuff[UARTi]+a*PORTBbits.RB0;
 
UARTbit++;
 
}
 
}